When you press pause, macro file pause.g is executed. You can configure what it does in that file. If you raise the print head before doing the XY movement, it should remain clear of your print.

I optimized the file for the pause, in this case, Z5 is enough.

OK, I have cancel.g (executed when canceling via pause function) found, that is at least a small remedy. (Maybe something for you? @biscuitlad)

But I do not understand that, this detour over the pause function.
It is not necessary to press emergency stop in case of a dangerous situation, if it would be sufficient to run an abort frequency (for example only G28 Z + retract without X, Y axis movement) in order to avoid a bigger collision.

Was this changed recently, because I had read something similar in "upgrade notes"?

Sending M0 or M1 from a source other than the SD card no longer stops an SD card print that is not paused